//Assumes the following pipeline:
// 1: ColorMesh outputted from Kinect API
// 2: ColorMesh turned into CVMesh by KinectFusionizer
// 3: No further edits have been made
public CVMesh Slice(CVMesh meshIn, double y_min, double y_max, bool inverted = true)
{
if (y_min >= y_max)
{
throw new Exception("Minimum value must be lower than maximum value");
}
if (meshIn == null)
{
throw new Exception("Mesh is null");
}
if (meshIn.Vertices.Count == 0)
{
throw new Exception("Mesh has no vertices");
}
CVMesh meshOut = CVMesh.Clone(meshIn);
//the depth image is flipped in comparison to output image
if (inverted)
{
double yMinTemp = y_min;
y_min = y_max;
y_max = yMinTemp;
y_min *= -1;
y_max *= -1;
}
yMin = y_min;
yMax = y_max;
//only add the same vector if it is unique. the vector itself is the key.
//the value is the original index the vector had
meshOut.Faces = Extensions.ToFaces(meshOut.TriangleIndeces);
meshOut = RemoveNonSurfaceFaces(meshOut);
Dictionary <Vector3, int> uniques = new Dictionary <Vector3, int>();
Dictionary <int, int> oldToNewIndices = new Dictionary <int, int>();
//We can only delete something once, but multiple deleted vertices can
//refer to one unique vertice, so:
//Key = deleted, value = unique vertice
Dictionary <int, int> deleted = new Dictionary <int, int>();
SplitVertices(ref uniques, ref deleted, ref oldToNewIndices, meshOut.Vertices, meshOut);
meshOut.Faces = AssignFacesNewIndices(deleted, oldToNewIndices, meshOut.Faces);
meshOut.Vertices = new List <Vector3>();
foreach (var unique in uniques)
{
meshOut.Vertices.Add(unique.Key);
}
meshOut.TriangleIndeces = Extensions.ToTriangleIndices(meshOut.Faces);
string location = Environment.CurrentDirectory;
PLYHandler.Output(meshOut, ref location, false);
return(meshOut);
}
/// <summary>
/// Translates, rotates and scales a mesh from the 3D camera's view to the Robot Arm's view
/// </summary>
/// <param name="mesh">The mesh we wish to transform</param>
/// <returns>A mesh in another space</returns>
public CVMesh ConvertToRobospace(CVMesh mesh)
{
CVMesh converted = CVMesh.Clone(mesh);
List <Vector3> vertices = converted.Vertices;
List <Vector3> transformedVertices = new List <Vector3>();
foreach (var v in vertices)
{
Vector3 transformed = TransformVertex(v, TransformMatrix);
transformedVertices.Add(transformed);
}
converted.Vertices = transformedVertices;
return(converted);
}